Design and kinematic analysis of a novel upper limb exoskeleton for rehabilitation of stroke patients

Abstract

This paper details the design process and features of a novel upper limb rehabilitation exoskeleton named CLEVER (Compact, Low-weight, Ergonomic, Virtual/Augmented Reality Enhanced Rehabilitation) ARM. The research effort is focused on designing a lightweight and ergonomic upper-limb rehabilitation exoskeleton capable of producing diverse and perceptually rich training scenarios. To this end, the knowledge available in the literature of rehabilitation robotics is used along with formal conceptual design techniques. This paper briefly reviews the systematic approach used for design of the exoskeleton, and elaborates on the specific details of the proposed design concept and its advantages over other design possibilities. The kinematic structure of CLEVER ARM has eight degrees of freedom supporting the motion of shoulder girdle, glenohumeral joint, elbow and wrist. Six degrees of freedom of the exoskeleton are active, and the two degrees of freedom supporting the wrist motion are passive. Kinematics of the proposed design is studied analytically and experimentally with the aid of a 3D printed prototype. The paper is concluded by some remarks on the optimization of the design, motorization of device, and the fabrication challenges.

A Modified Kinematic Model of Shoulder Complex Based on Vicon Motion Capturing System: Generalized GH Joint with Floating Centre

“…For specific expression, the internal/external rotation does not change the GH joint center [ 35 , 40 ]. During humeral elevation in different elevation planes, the movements of the shoulder girdle are accompanied by the amount of x , y and z in the thorax coordinate system.…”

“…For the GH joint center displacement variable quantity relative to the thorax coordinate system is equal to the overall motion of the shoulder girdle; the coupled motion can clearly describe the characteristics of the shoulder girdle and humerus. For specific expression, the internal/external rotation does not change the GH joint center [ 35 , 40 ]. Thus, the motion coupling relationship between the GH joint center displacement variable quantity and the humeral elevation can clearly describe the overall motion characteristics of the shoulder complex.…”

“…The humerus is connected to the scapula of shoulder girdle through the GH joint [ 26 ]. The GH joint has three revolute DOFs with the axes intersecting perpendicularly in the GH joint center and moves with the functional relevance of the shoulder girdle during humeral elevation, which is obviously a spherical joint [ 5 , 35 ]. Thus, the humerus has only three rotational motions around the GH joint center relative to the shoulder girdle.…”

Kinematic Design Optimization of an Eight Degree-of-Freedom Upper-Limb Exoskeleton

“…CLEVERarm is an eight DoF upper-limb rehabilitation exoskeleton supporting the motions of shoulder, elbow, and wrist. 37 Figure 1(a) shows the kinematic model of CLEVERarm in a right-arm configuration, while Fig. 1(b) demonstrates the system on a manikin.…”

Pilot Study of a Powered Exoskeleton for Upper Limb Rehabilitation Based on the Wheelchair

“…e other is mainly used in the home to assist a single patient in activities of daily living. A lightweight and ergonomic upper-limb rehabilitation exoskeleton named CLEVER ARM was proposed by Zeiaee et al e wearable upper limb exoskeleton was to provide automated therapy to stroke patients [9]. Feiyun et al presented a seven DOFs cable-driven upper limb exoskeleton for post-stroke patients.…”